【摘要】 运用拉格朗日方程建立了复合材料机器人弹性动力学模型。建模中，机器人手臂按复合材料层合梁处理，空间梁单元按质量集中和刚度分布来计算。忽略影响较小的转动动能以消去各构件的转动坐标，用模态综合法进一步缩减构件坐标，从而极大地提高了计算效率。对具有碳素纤维／铝复合材料手臂的机器人进行了理论计算和试验分析，证明了模型的正确性。更多还原

【Abstract】 The elastodynamics model of the robot fabricated from the composite material is set up by the Lagrange′s equations. The robot arm is treated as the laminated beam. In the calculation the spatial beam elements are seen as jumped mass and distriputed stiffness. The negligence of the rotational kinetic energy makes it Possible to eliminate the link rotational coordinates and the method of mode synthesis is used for further reduction of the link coordinates, thus the calculation efficiency is raised extremely. The robot elastodynamic model is Proved to be correct by the theoretical calculation and the experimental results for a robot with an arm fabricated from the graphite fibre-reinforced aluminum composite materials.更多还原